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A framework for research in augmented teleoperation and supervisory control for mobile robots.

机译：用于移动机器人的增强远程操作和监督控制的研究框架。

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摘要

This research has focused on how to expand the capabilities of an omni-directional inspection robot (ODIS) currently used by the Army for check point vehicle inspection. The drawback of this system is that it lacks critically needed capabilities due to its closed architecture. This research and development effort creates a framework that allows ODIS to expand its capabilities. First, the communication hardware has been improved to allow a standoff distance of 450 meters. This could allow operators to work from a much safer distance. In addition, this development work has integrated a communication chain that provides sufficient speed to transmit a live digital feed to the operator control unit (OCU). This addition allows many image processing-based techniques to be used. The software and hardware framework that is developed here allows many novel uses of the ODIS platform. Several examples are programmed including semi-autonomous behavior of ODIS, a mast that is capable of extending ten feet in the air, a Graphical User Interface (GUI) that enables the solider to have semi-autonomous control, and the beginning of single-user control of a robotic swarm. The main contribution of this thesis is the building of highly configurable foundation of software and hardware components that allows the ODIS platform to be used to create very innovative applications for checkpoint assistance.
机译：这项研究的重点是如何扩展陆军目前用于检查点车辆检查的全向检查机器人（ODIS）的功能。该系统的缺点是由于其封闭的体系结构而缺乏急需的功能。这项研究和开发工作创建了一个框架，使ODIS可以扩展其功能。首先，对通信硬件进行了改进，以实现450米的对峙距离。这可以使操作员从更安全的距离进行工作。此外，这项开发工作还集成了一条通讯链，该通讯链提供了足够的速度将实时数字馈送传输到操作员控制单元（OCU）。此添加允许使用许多基于图像处理的技术。这里开发的软件和硬件框架允许ODIS平台有许多新颖的用途。编程了几个示例，包括ODIS的半自主行为，能够在空中延伸十英尺的桅杆，使士兵能够进行半自主控制的图形用户界面（GUI）以及开始使用单用户机器人群的控制。本文的主要贡献是建立了高度可配置的软件和硬件组件基础，使ODIS平台可用于创建非常创新的应用程序来支持检查点。

著录项

  • 作者

    Hunt, Shawn.;

  • 作者单位

    Wayne State University.;

  • 授予单位 Wayne State University.;
  • 学科 Engineering Electronics and Electrical.;Engineering Robotics.
  • 学位 M.S.
  • 年度 2008
  • 页码 73 p.
  • 总页数 73
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 无线电电子学、电信技术;
  • 关键词

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